Automated two-dimensional localization of underwater acoustic transient impulses using vector sensor image processing (vector sensor localization).

Detecting acoustic transients by signal-to-noise ratio (SNR) becomes problematic in nonstationary ambient noise environments characteristic of coral reefs. An alternate approach presented here uses signal directionality to automatically detect and localize transient impulsive sounds collected on underwater vector sensors spaced tens of meters apart. The procedure, which does not require precise time synchronization, first constructs time-frequency representations of both the squared acoustic pressure (spectrogram) and dominant directionality of the active intensity (azigram) on each sensor. Within each azigram, sets of time-frequency cells associated with transient energy arriving from a consistent azimuthal sector are identified. Binary image processing techniques then link sets that share similar duration and bandwidth between different sensors, after which the algorithm triangulates the source location. Unlike most passive acoustic detectors, the threshold criterion for this algorithm is bandwidth instead of pressure magnitude. Data collected from shallow coral reef environments demonstrate the algorithm's ability to detect SCUBA bubble plumes and consistent spatial distributions of somniferous fish activity. Analytical estimates and direct evaluations both yield false transient localization rates from 3% to 6% in a coral reef environment. The SNR distribution of localized pulses off Hawaii has a median of 7.7 dB and interquartile range of 7.1 dB.

Capacitive Bio-Inspired Flow Sensing Cupula.

Submersible robotics have improved in efficiency and versatility by incorporating features found in aquatic life, ranging from thunniform kinematics to shark skin textures. To fully realize these benefits, sensor systems must be incorporated to aid in object detection and navigation through complex flows. Again, inspiration can be taken from biology, drawing on the lateral line sensor systems and neuromast structures found on fish. To maintain a truly soft-bodied robot, a man-made flow sensor must be developed that is entirely complaint, introducing no rigidity to the artificial "skin." We present a capacitive cupula inspired by superficial neuromasts. Fabricated via lost wax methods and vacuum injection, our 5 mm tall device exhibits a sensitivity of 0.5 pF/mm (capacitance versus tip deflection) and consists of room temperature liquid metal plates embedded in a soft silicone body. In contrast to existing capacitive examples, our sensor incorporates the transducers into the cupula itself rather than at its base. We present a kinematic theory and energy-based approach to approximate capacitance versus flow, resulting in equations that are verified with a combination of experiments and COMSOL simulations.

Photosynthesis by marine algae produces sound, contributing to the daytime soundscape on coral reefs.

We have observed that marine macroalgae produce sound during photosynthesis. The resultant soundscapes correlate with benthic macroalgal cover across shallow Hawaiian coral reefs during the day, despite the presence of other biological noise. Likely ubiquitous but previously overlooked, this source of ambient biological noise in the coastal ocean is driven by local supersaturation of oxygen near the surface of macroalgal filaments, and the resultant formation and release of oxygen-containing bubbles into the water column. During release, relaxation of the bubble to a spherical shape creates a monopole sound source that 'rings' at the Minnaert frequency. Many such bubbles create a large, distributed sound source over the sea floor. Reef soundscapes contain vast quantities of biological information, making passive acoustic ecosystem evaluation a tantalizing prospect if the sources are known. Our observations introduce the possibility of a general, volumetrically integrative, noninvasive, rapid and remote technique for evaluating algal abundance and rates of primary productivity in littoral aquatic communities. Increased algal cover is one of the strongest indicators for coral reef ecosystem stress. Visually determining variations in algal abundance is a time-consuming and expensive process. This technique could therefore provide a valuable tool for ecosystem management but also for industrial monitoring of primary production, such as in algae-based biofuel synthesis.

Beamforming using chip-scale atomic clocks in a controlled environment.

Recently developed low-power Chip-Scale Atomic Clocks (CSACs) hold promise for underwater acoustics applications because they enable time-coherent processing, critical for estimating the directionality of the sound field, when acoustic array elements cannot share a timing reference. Controlled, tank-based experiments with a small acoustic array (N = 4) featuring CSAC-equipped elements show that optimal disciplining is important for continued array coherence. Clock drift equivalent to a 10% wavelength error at 0.3, 1, and 10 kHz was reached at approximately 25, 10, and 3 days, respectively. Within application-specific limits, this technology brings enhanced capabilities to acoustic thermometry, geoacoustic, biological, and under-ice acoustic oceanography.

A highly directional transducer for multipath mitigation in high-frequency underwater acoustic communications.

This paper presents a transducer design of the hollow cylinder type designed to minimize transmission multipath and the need for channel equalization over short acoustic communication distances in shallow water. Operating at 750 kHz, the half-maximum envelope of the main lobe is approximately 3°. The transducer was incorporated into a low-complexity modem system in which it acted as both transmitter and receiver. At-sea testing indicated that the system is capable of operating over horizontal distances of 5 m without evidence of multipath distortion. The system was also found to be effective as an omnidirectional transmitter/receiver in the 10-60 kHz band.

Cross-correlation, triangulation, and curved-wavefront focusing of coral reef sound using a bi-linear hydrophone array.

A seven element, bi-linear hydrophone array was deployed over a coral reef in the Papahãnaumokuãkea Marine National Monument, Northwest Hawaiian Islands, in order to investigate the spatial, temporal, and spectral properties of biological sound in an environment free of anthropogenic influences. Local biological sound sources, including snapping shrimp and other organisms, produced curved-wavefront acoustic arrivals at the array, allowing source location via focusing to be performed over an area of 1600 m(2). Initially, however, a rough estimate of source location was obtained from triangulation of pair-wise cross-correlations of the sound. Refinements to these initial source locations, and source frequency information, were then obtained using two techniques, conventional and adaptive focusing. It was found that most of the sources were situated on or inside the reef structure itself, rather than over adjacent sandy areas. Snapping-shrimp-like sounds, all with similar spectral characteristics, originated from individual sources predominantly in one area to the east of the array. To the west, the spectral and spatial distributions of the sources were more varied, suggesting the presence of a multitude of heterogeneous biological processes. In addition to the biological sounds, some low-frequency noise due to distant breaking waves was received from end-fire north of the array.

The origins of ambient biological sound from coral reef ecosystems in the Line Islands archipelago.

Although ambient biological underwater sound was first characterized more than 60 years ago, attributing specific components of ambient sound to their creators remains a challenge. Noise produced by snapping shrimp typically dominates the ambient spectra near tropical coasts, but significant unexplained spectral variation exists. Here, evidence is presented indicating that a discernible contribution to the ambient sound field over coral reef ecosystems in the Line Islands archipelago originates from the interaction of hard-shelled benthic macro-organisms with the coral substrate. Recordings show a broad spectral peak centered between 14.30 and 14.63 kHz, incoherently added to a noise floor typically associated with relatively "white" snapping shrimp sounds. A 4.6 to 6.2 dB increase of pressure spectral density level in the 11 to 17 kHz band occurs simultaneously with an increase in benthic invertebrate activity at night, quantified through time-lapse underwater photography. Spectral-level-filtered recordings of hermit crabs Clibanarius diugeti in quiet aquarium conditions reveal that transient sounds produced by the interaction between the crustaceans' carapace, shell, and coral substrate are spectrally consistent with Line Islands recordings. Coral reef ecosystems are highly interconnected and subtle yet important ecological changes may be detected quantitatively through passive monitoring that utilizes the acoustic byproducts of biological activity.

Estimating the horizontal and vertical direction-of-arrival of water-borne seismic signals in the northern Philippine Sea.

Conventional and adaptive plane-wave beamforming with simultaneous recordings by large-aperture horizontal and vertical line arrays during the 2009 Philippine Sea Engineering Test (PhilSea09) reveal the rate of occurrence and the two-dimensional arrival structure of seismic phases that couple into the deep ocean. A ship-deployed, controlled acoustic source was used to evaluate performance of the horizontal array for a range of beamformer adaptiveness levels. Ninety T-phases from unique azimuths were recorded between Yeardays 107 to 119. T-phase azimuth and S-minus-P-phase time-of-arrival range estimates were validated using United States Geological Survey seismic monitoring network data. Analysis of phases from a seismic event that occurred on Yearday 112 near the east coast of Taiwan approximately 450 km from the arrays revealed a 22° clockwise evolution of T-phase azimuth over 90 s. Two hypotheses to explain such evolution-body wave excitation of multiple sources or in-water scattering-are presented based on T-phase origin sites at the intersection of azimuthal great circle paths and ridge/coastal bathymetry. Propagation timing between the source, scattering region, and array position suggests the mechanism behind the evolution involved scattering of the T-phase from the Ryukyu Ridge and a T-phase formation/scattering location estimation error of approximately 3.2 km.